CN103383780A - Method and device for identifying a vehicle using a location - Google Patents

Method and device for identifying a vehicle using a location Download PDF

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Publication number
CN103383780A
CN103383780A CN201310157328XA CN201310157328A CN103383780A CN 103383780 A CN103383780 A CN 103383780A CN 201310157328X A CN201310157328X A CN 201310157328XA CN 201310157328 A CN201310157328 A CN 201310157328A CN 103383780 A CN103383780 A CN 103383780A
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China
Prior art keywords
onboard units
radiobeacon
status message
radio
pid
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Granted
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CN201310157328XA
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Chinese (zh)
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CN103383780B (en
Inventor
O·纳吉
R-T·圭娜
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Kapsch TrafficCom AG
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Kapsch TrafficCom AG
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L1/00—Devices along the route controlled by interaction with the vehicle or train
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Finance (AREA)
  • Traffic Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Devices For Checking Fares Or Tickets At Control Points (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Described is a method for identifying a vehicle using a predetermined location, comprising: carrying, on the vehicle, an onboard unit that via radio repeatedly broadcasts status messages, which each indicate a current relative distance (A i) of the onboard unit from the predetermined location and a radio identifier that changes after each or several status messages; receiving at least one status message in a radio beacon; detecting a location usage of the vehicle by evaluating the at least one status message based on the relative distance (A i) indicated therein; transmitting an identification request from the radio beacon to that onboard unit which is addressed by way of the radio identifier from the at least one status message; receiving and conducting a legitimacy check of the identification request in the onboard unit and, if the request is legitimate, transmitting a unique identification of the onboard unit to the radio beacon, the unique identification remaining the same over several changes of radio identifier. Also described is a radio beacon and to an onboard unit for use with this method.

Description

For identifying the method and apparatus of vehicle of use location
Technical field
The present invention relates to for identifying the method for the vehicle that uses precalculated position.The invention further relates to radiobeacon, and relate to the onboard units for using together with the method.
Background technology
Need, for identifying the method for vehicle, for example, in order to record, monitor, to authorize and/or impose the charge (expense) of vehicle use location.The use to position like this can, for example, comprise and enter zone limiting access or that be monitored, parking of the defrayment of ad-hoc location, for example, pay parking, or use the highway of charging, such as highway or city highway (city charge) etc.In the known vehicle identification method, read registration number (licence plate) by optical character identification (OCR), perhaps vehicle is equipped with and has uniquely identified onboard units (OBU), and this unique identification can be read by radio interface (such as special-purpose short-range communication (DSRC), radio frequency identification (RFID), wireless lan (wlan), for accessing wirelessly (WAVE) of vehicle environmental etc.).
In order to create the associated clearly of the OBU sign that reads with wireless mode and position by vehicle was used, at present, be arranged on the specific installation (" frame ") that will be monitored and be equipped with the position of the radio coverage straitly defined for the wireless radiobeacon read; Or use the onboard units based on satellite navigation, and this unit is positioned oneself position data by mobile communications network to background transfer, and the map match with the position that will be monitored is carried out on backstage.It is special that all these known methods all not only need; no matter complicated installation (is on vehicle; or on highway); but also the identity (form that presents the OBU sign read with wireless mode) of OBU is disclosed; even being used, the position that need not monitor exists; due to the data protection reason, this is to be not suitable for.
Summary of the invention
The objective of the invention is to create the method and apparatus of type referred to above, they can make the vehicle of use location be identified by the mode with fairly simple, for the confidentiality raising of the vehicle do not related to.
This purpose realizes in a first aspect of the present invention by the method for type referred to above, comprising:
Portable machine carrier unit on described vehicle, described onboard units is by radio broadcast state message repeatedly, and each status message is indicated the current relative distance in described onboard units and described precalculated position and the radio indicator of change after each or a plurality of status message;
Receive at least one status message in radiobeacon;
Described at least one status message of described relative distance assessment by based on wherein indicated, detect the position of described vehicle and use;
Described onboard units transmission identification request from from described radiobeacon to the described radio indicator addressing by from described at least one status message;
Receive described identification request and it is carried out to validity checking in described onboard units, if described request is legal, the unique identification of described onboard units is transferred to described radiobeacon, and described unique identification remains unchanged in the change several times of radio indicator.
The present invention is based on the known common perception message (CAM) of transmission state message (such as those, for example, from ITS-G5 or WAVE(IEEE802.11p) standard or the form of basic security message (BSM)) novelty integrated of onboard units.The follow-up broadcast of message is sent, so that warning or notify adjacent onboard units or roadside foundation structure, in order to avoid conflict or the brief account situation of improvement be provided to the driver.For the establishment of the mobile overview that makes vehicle becomes more difficult, status message is only sending under interim radio indicator, and interim radio indicator often changes, and be known to system operator, in order to protect privacy.The present invention only assesses the interim radio indicator of at least one status message of onboard units.Only after the use detected position the result of interim radio indicator---anonymously as---just ask onboard units to expose its " real " identity, for example, payment, use or application identity.This guarantees in fact, only have and used those onboard units in precalculated position identified; Only by onboard units near position or third party's vehicle that only turned round before actual use location, etc., not identified, that is to say, they keep anonymous.Therefore, can meet high data protection requirement with regard to privacy, in the installation that does not need complicated highway limit, OBU revises or the independent anonymization equipment such as Agent Computer.
According to tolerance of the present invention, according to this tolerance, each onboard units itself is calculated the relative distance in itself and precalculated position, the result of calculation completed is transferred to radiobeacon, the calculating of the computation-intensive of adjusting the distance of release unit.It is whole that now radiobeacon need to be done is assessment relative distance, for example, checks that they are to look at whether be reduced to lower than below predetermined ultimate range, in order to come detection position to use based on it.
According to the first embodiment of the present invention, the information in relevant precalculated position is transferred to onboard units from radiobeacon, and described onboard units is calculated relative distance based on this information and based on its current location.
As a kind of replacement scheme, the information in relevant precalculated position can be stored in onboard units, and described onboard units is calculated relative distance based on this information and based on its current location.For example, each onboard units can comprise the list of aerogram target installation site, as precalculated position, pre-stored they, or by radio, for example, the radio of distributing by radiobeacon, receive them, and can use these lists in order to determine and corresponding nearest aerogram target relative distance.
Another preferred embodiment of the present invention is characterised in that, receive at least two status messages in radiobeacon, and the radio indicator based on wherein indicated, to be associated with each other, by the relative distance based on wherein indicated, assess mutually inter-related status message, detect the position of vehicle and use.
By interrelated and at least two status messages of assessment, tracing machine carrier unit within being enough to determine with high determinacy to the short period of the use of ad-hoc location.Even two or only have several status messages that can be associated with same onboard units can be enough to meet this purposes, to eliminate measuring error, and detect reliably the movement occurred with respect to the relative distance increased or dwindle.In the simplest situation, it can be the intersection around the predetermined border in precalculated position that the position detected is like this used, if the relative distance on the first outside, status message indication border, the relative distance in the second status message indication border, so that detection position is used.
According to further preferred embodiment of the present invention, by checking the encryption transmit leg certificate that the aerogram target is transmitted together with identification request by radiobeacon, carry out validity checking.So, onboard units only discloses its identity to the legal inquirer of sign, further improves the protection to privacy.
Due to same reason, the sign of onboard units is particularly advantageous by the transmission of encrypting to radiobeacon.For this purpose, can between onboard units and inquiry radiobeacon, set up directly (point-to-point) coded communication.For example, the communication channel of encrypting can be the part of the agreement at the radio interface place between onboard units and radiobeacon, for example, and the part of ITS-G5 or WAVE standard, but, can alternatively can also pass through respectively 3G, 4G or 5G mobile communications network and set up.
In the preferred application of identification method of the present invention, in the sign received in radiobeacon is recorded in storer together with timestamp, so that record position is used, for example, for monitoring purpose.
In alternate application of the present invention, the sign that will receive in radiobeacon and the legal sign that at least one is pre-stored compare, so that authorized location is used, for example, in order to open door, reduce the wheel lock, deactivation implementation system etc.
Identification method of the present invention another kind application in, the sign received in radiobeacon is used to the search toll account that also debit is associated with sign, in order to position is used and is charged, for example, in order to impose position and/or time cost, Parking Fee, road occupation expense, city expense etc.
In all three kinds of variants, after the position use being recorded, is authorized or charged, radiobeacon is transferred to onboard units by the peculiar beacon identifier of radiobeacon, onboard units is stored this identifier, and at least with together with the transmission of the follow-up broadcast of its status message or its described sign, transmit, and, if the beacon identifier of the beacon identifier and its that therewith receive oneself is identical, radiobeacon can be ignored status message or the sign received from onboard units.So, can prevent unintentional dual logging, mandate or the charge in aerogram target radio coverage and identical onboard units.
According to further preferred feature of the present invention, can receive plural status message, and they are associated with each other, the mobile trend that can the relative distance based on indicated in these message carrys out the computing machine carrier unit, this trend and precalculated position are compared, so that detection position is used.This can make detecting reliability increase, and for example, " measurement exceptional value " better suppressed.
If corresponding radio indicator is roughly 5 to 1000, preferably change after 20 to 100 status messages, advantageous particularly.Radio indicator changes more frequently, and with regard to the trackability of specific on-board unit, data protection is larger; Radio indicator changes more not frequently, and the risk changed around the radio indicator of position to be detected is just lower, and this will make to detect more difficult.Value as above forms the good compromise between these mutually opposite requirements.
As a kind of replacement scheme, the change interval of the radio indicator of onboard units can also be set to, so that radio indicator changes after the predetermined time period expires.Size based on the common radio coverage of aerogram target and the average velocity of onboard units, can select the predetermined time period, transmits the aerogram timestamp with convenient onboard units, with high determinacy, the radio indicator variation does not occur.
Another preferred embodiment of the present invention is to make radio indicator identical when onboard units is positioned at one and identical aerogram target radio coverage.For this purpose, for example, if radiobeacon is the broadcast beacon identifier periodically, onboard units can directly be measured aerogram target radio coverage, or list or the figure of known aerogram target radio coverage that can be based on pre-stored determine it, or notified as the part of the identification request of in broadcast or beacon by radiobeacon.
Status message can also comprise current location and/or the current mobile vector of onboard units, and these information will be used together with the detection that position is used, in order to further improve detecting reliability.
Feature according to present invention further optimization, the current location of onboard units can navigate to determine via satellite, and by by the poor GPS(dGPS that turns) mode quote the aerogram target reference position of navigating via satellite definite, wherein, radiobeacon forms parametric receiver, in order to improve the position of definite onboard units of navigating via satellite.
As an alternative, the current location of onboard units can navigate to determine via satellite, and improve at least one further position of the adjacent onboard units that navigation is determined via satellite by reference.The hypothesis of this embodiment based on such, given closer to each other, each suffers the same satellite navigation error to be present in onboard units in aerogram target radio coverage, and so, adjacent OBU can be by the dGPS receiver of making comparisons for mode.
Generally speaking, radiobeacon can be used in the environment direct or wider at it or even detection position use in the remote zone of its radio coverage outside; Yet aerogram target radio coverage preferably comprises precalculated position, so that the position that each radiobeacon is responsible in its direct environment is used, so from onboard units, receive current and local measurement data.
In second aspect, the present invention creates for identifying the radiobeacon of the vehicle that uses precalculated position, vehicle portable machine carrier unit, described onboard units is passed through radio broadcast state message repeatedly, each status message is indicated the current relative distance in described onboard units and described precalculated position and the radio indicator changed after each or a plurality of status message, and wherein, radiobeacon is configured to, under the help of processor and connected transceiver
Receive at least one status message;
Described at least one status message of described relative distance assessment by based on wherein predetermined, detect the position of described vehicle and use;
This onboard units transmission identification request to the described radio indicator addressing by from described at least one status message; Then
Receive the unique identification remained unchanged of described onboard units in radio indicator repeatedly changes.
If radiobeacon is configured to carry out following operation, advantageous particularly:
Receive at least two status messages, and the radio indicator based on wherein indicated, these are associated with each other, and
By the relative distance based on wherein indicated, assess mutually inter-related status message, detect the position of vehicle and use.
Radiobeacon preferably comprises encrypts the transmit leg certificate, and is configured to transmit it together with identification request.
In the third aspect, the present invention creates onboard units, comprise processor, for the satellite navigation receiver of location positioning, and for the transceiver of wireless communication, wherein, onboard units is configured to use transceiver to pass through radio broadcast state message repeatedly, the radio indicator changed after status message repeatedly that each message comprises onboard units
Wherein, onboard units further be configured in each status message indication as via satellite navigation receiver that determine with current relative distance precalculated position,
Receive identification request from radiobeacon, this request is mail to the current wireless of this unit and is comprised and encrypts the transmit leg certificate;
Verify described transmit leg certificate; If effectively,
To the unique identification of radiobeacon conveyer carrier unit, be identified at repeatedly in the radio indicator variation and remain unchanged.
The status message of onboard units is preferably according to the CAM of the modification of ITS-G5 standard, or according to the BSM of the modification of WAVE standard.
The accompanying drawing explanation
For the extra feature and advantage of radiobeacon of the present invention and onboard units, with reference to the top description to method provided with reference to each accompanying drawing, and following description of preferred embodiments, wherein:
Fig. 1 shows the schematic overview of the assembly operated in the scope of method of the present invention, comprises radiobeacon of the present invention and a plurality of onboard units;
Fig. 2 shows block diagram and the signal flow graph of method of the present invention; And
Fig. 3 shows the precedence diagram of exchange of the message at the radio interface place between radiobeacon and onboard units.
Embodiment
Fig. 1 shows current road toll system 1, as the exemplary application of identification method of the present invention, comprises backstage 2 and a plurality of Wayside radio beacon distributed (roadside entity, RSE) 3 that are connected to backstage 2 on geographic position.Each in radiobeacon 3 has limited radio coverage 4, for example, the wireless radius of 200 meters, in this radius, defined such as a 5(" virtual toll plaza "), regional 6(for example, parking lot), border 7(for example, virtual frame, border, business district etc.) or the precalculated position of highway division 8 and so on, wherein, position 5-8 can also completely or partially be positioned at radio coverage 4 outsides.They are preferably located in (at least in part) radio coverage 5, and this has simplified the associated of the radiobeacon 3 position 5-8 responsible with beacon.
Radiobeacon 3 detects by the position of the vehicle 9 of the radio coverage 4 of beacon and uses, that is to say,---and optionally how long---in the 5-8 of use location one that whether detects these vehicles 9, and such vehicle 9 of sign use location.Any one vehicle 9 in the 5-8 of use location will not be not identified, that is to say, keep anonymous.
For purpose referred to above, all vehicles 9 all are equipped with onboard units (OBU) 10, will describe its configuration in greater detail based on Fig. 2 ratio.
According to Fig. 2, each OBU10 comprises satellite navigation receiver 11, for such as GPS, GLONASS, repeat continuously corresponding current location (generally speaking, " location " P of unit of determining unit in the GPS (Global Position System) of Galileo etc. and so on (GNSS) 1, P 2... P i).In addition, OBU10 also is equipped with processor 12 and transceiver 13, and wherein, for clarity sake, some data between satellite navigation receiver 11, processor 12 and transceiver 13 connect not shown.
Reference numeral 14 schematically means the attendant application that can be carried out by processor 12, for example, the toll collection applications program, this attendant application can with below will describe mode with radiobeacon 3 and the backstage 2 of current road toll system 1, cooperated, for this purpose, there is unique OBU identifier uID(" unique ID " in current road toll system 1).For example, OBU sign uID can be unique generation identifier of OBU10, its possessory title, the possessory title that the vehicle of OBU10 has been installed in the above, the possessory account of vehicle or credit card identifier etc.In current road toll system 1, OBU sign uID is known to backstage 2 and/or radiobeacon 3, and can carry for sign the vehicle 9 of OBU.
Reference numeral 15 means the security application of being processed by processor 12, by this security application, OBU10 continuously and repeatedly, preferably, periodically roughly every 100 milliseconds, by transceiver 13 broadcast state message 16.Status message 16 plans are received by OBU10 and/or the roadside foundation structure (such as radiobeacon 3) of adjacent vehicle 9, neither need to confirm to receive, and also do not need actual reception; Whether application program 15, by transceiver 13 transmission state message 16, is received by receiver regardless of these status messages 16, yet, optionally, can also be done like this by radiobeacon 3 or other OBU10 request applications.
Each in status message 16 can comprise the last position P of OBU10 as definite as navigation receiver 11 via satellite i, and optionally comprise other data, and for example, speed and moving direction (mobile vector) M, highly, measuring accuracy etc.Each status message 16 is equipped with interim radio indicator pID, so that adjacent OBU or foundation structure can be associated with each other continuum of states message 16 based on interim radio indicator pID, so that position P that can be based on from continuum of states message 16 i, at least in the short period, determine the mobile route of OBU10 (track).
The onboard units 10 that comprises the security application 15 for sending such status message 16 exists, for example, ITS-G5 and WAVE(IEEE802.11p) be defined in standard.This status message 16 in the ITS-G5 standard referred to as common perception message (CAM), in the WAVE standard referred to as basic security message (BSM) (famous SAE J2735).The interim radio indicator pID of status message 16 is passable, for example, is temporary IP 6 addresses of OBU10, MAC Address or pseudo-MAC Address, and accurately or preferably general geographic position (position coordinates) of OBU10, etc.In the simplest situation, interim radio indicator pID can be even and the position P of OBU10 iidentical.
Radio indicator pID is unknown in current road toll system 1, or to backstage 2 and radiobeacon 3 the unknowns, nonsensical there; For example, it can also be selected randomly by OBU10.On the meaning that radio indicator pID changes after the status message 16 at specific quantity at it, be also " interim ", in order to suppress the tracking to specific OBU10 in the long period.For example, radio indicator pID arrives per mille, preferably change after 1/20th arrives one of percentage status message 16 every 1/5th.In the precedence diagram of Fig. 3, ratio shows the method in more detail.
As a kind of replacement scheme, radio indicator pID can change after the predetermined time period, maybe when changing the radio coverage 4 be present in same radiobeacon 3, changes and can be omitted or suppress by onboard units 10 selectively when interior.For this purpose, the information of the size of can the be pre-stored relevant aerogram target position of onboard units 10 and/or radio coverage 4 (for example, form with list or figure), or by radiobeacon 3 form with the broadcast of radiobeacon 3, or notify it as the part of following described message 22,27 and 27'.
Concerning method as described herein, with conventional CAM or BSM, to compare, status message 16 is modified, because these status messages 16---replace the current location P of OBU10 ior except current location P ioutside---all comprise OBU10 and current relative distance A precalculated position 5-8 in each situation i.For this purpose, OBU10 must have position coordinates (geographic position) P of relevant precalculated position 5-8 0information, for example, put 5 or the zone 6, border 7, the position coordinates of highway division 8 etc. center or reference point.
The positional information P0 of precalculated position 5-8 can, for example, pre-stored in OBU10, for example,, with the form of list, specifically, in the production of OBU10 or delivery process, store, or " dynamically ", for example, a reception from radiobeacon 3, or pass through network or another wireless network of radiobeacon 3 by backstage 2, for example, mobile communications network, be distributed to OBU10.If there are a plurality of precalculated position 5-8, OBU10, for example, in status message 16, transmit the corresponding relative distance A with nearest position 5-8 i, suppose that OBU does not receive order from radiobeacon 3, or in another way, with calculate with nearest position 5-8 in the relative distance A of another position i.
Calculate the current location P of OBU10 iwith 5-8 position, precalculated position P 0between relative distance A ito from P according to following formula 0to P ithe criterion calculation of length of vector
A i = ( X i - X 0 ) 2 + ( Y i - Y 0 ) 2 + ( Z i - Z 0 ) 2 , - - - ( 1 )
Wherein, (X i/ Y i/ Z i) be the current location P of OBU10 icoordinate, and (X 0/ Y 0/ Z 0) be the position P of predetermined 5-8 0coordinate.Calculating can, certainly, also in two dimensional surface X/Y, carry out exclusively, that is to say, can ignore the Z coordinate.
According to Fig. 3, OBU10 transmits repeatedly, passes through CAM here 1, CAM 2, CAM 3..., or CAM ithe status message 16 meaned.In shown example, radio indicator pID nat three status messages 16 of beginning, or from pID 1to pID 2cAM 1, CAM 2, CAM 3etc. after change.At i status message CAM iplace, used n radio indicator pID n(n<<i).
As a result, the radio indicator pID that two continuum of states message 16 can be based on identical ibeing relative to each other, to be associated on statistics be likely; Only in radio indicator from pID nchange to pID n+1process in, before radio indicator changes and afterwards the directly related ability of status message 16 is impossible.In the case, for example, by the mobile history of tracing machine carrier unit 10,, by assessing its speed, its directivity vector etc., the association of status message 16 is also possible, if this information is directly provided in status message 16 by OBU10, or measured by radiobeacon 3.Can also by carry OBU10 vehicle 9 such as vehicle width, length, the character of height etc. and so on is stored in OBU10, so as in status message 16 transmission they or measure them by radiobeacon 3, in order to improve associated reliability.
According to Fig. 1 to 3, receive the status message 16 at all OBU10 of its radio coverage 4 interior transmission, can will be associated with each other from the status message 16 of specific OBU10 based on radio indicator pID, based on relative distance A ifollow the tracks of the mobile trend of OBU10, optionally, but also position-based P i, the whole track of tracking OBU10, if these transmit simultaneously.For this purpose, comprise processor 17 according to the radiobeacon 3 of Fig. 2, the association process 19 that transceiver 18 and processor 17 processed, this association process 19 filters the flow process that arrives status message 16 for associated radio indicator pID, and will be from being mutually related 16 relative distance A ibe fed to the tracing process 20 that processor 18 is processed.If radio indicator pID is directly corresponding to position P ior general geographic position, association process 19 can also mobile historical (" tracking ") based on OBU10 carrys out each other interrelated of executing state message 16.
The relative distance A that tracing process 20 will so be obtained iwith the ultimate range a with precalculated position 5-8 mcompare, so that detection position is used.In addition, can monitor the mobile trend of OBU10, see whether constantly increase or constantly dwindle relative distance A i, measure exceptional value in order to detect or suppress, and detect reliably any distance limit a of surpassing msituation under.
In addition, if transmit current location P simultaneously i, can assess these current locations P i, in order to further increase detecting reliability.Because the distance according to formula 1 is calculated and to be carried out in OBU10, therefore, can make tracing process 20 in radiobeacon 3 very simple and be reduced to, for example, simple relatively " A i<a m? " yet, optionally, also can jointly be evaluated at a plurality of relative distance A of transmission in continuum of states message 16 i, for example, form its mean value, and by it and ultimate range a mcompare.
As position P ipredetermined quantity or mean value be reduced to lower than with point 5 ultimate range a mwhen following, if precalculated position P0 is point 5, based on relative distance A ithe position detected use and can be verified in addition.If position is zone 6, as position P ipredetermined quantity or mean value in zone 6 when interior, the detection that position is used can be verified in addition.If position is highway division 8, when, for example, position P iindicate travelling on whole highway division 8, start to its end from it, or while travelling on predetermined a plurality of continuous highway division 8 etc., the detection that position is used can be verified in addition.If position be border 7(by the way, can also be used to separate the scope around point 5, zone 6 or highway division 8), the detection of position being used can be in addition be verified as the intersection on border.
In simplified embodiment, radiobeacon 3 can be used from single status message 16 detection positions, in order to can omit association process 19.In the case, for example, as single relative distance A ibe reduced to lower than around the point 5 ultimate range a mwhen following, can use detection position.If status message 16 comprises other data, speed and moving direction such as OBU10, mobile vector M particularly, when to OBU10 in the past or the conclusion of following movement show unit and just be used, in use procedure, or, soon by use location, for example, be reduced to lower than ultimate range a mbelow or intersect or during by intersect edges 7, also can detect the use to position.
Once tracing process 20 detects position and uses, this process starts attendant application 21, and this attendant application 21 is responsible for this position and is used, and processor 17 will be processed this attendant application 21.Application program 21 can, for example, be record, supervision or authorization service so that the position that detects of record is used---for the OBU10 sign, or monitor it, or authorize extra step, such as opening access barrier etc.In this example, attendant application 21 be have service identifiers sID and can be by OBU10 the use collection cost for position.
Attendant application 21 is now by transceiver 18, optionally together with its service identifiers sID, identification request Id_Req22 is transferred to the OBU10 had at the radio indicator pIDOBU10 by indicated in the status message 16 of association process 19 associations, also referring to Fig. 3.Identification request 22 preferably comprises the encryption transmit leg certificate " Cert " 23 of radiobeacon 3, in order to authenticate it with respect to onboard units 10.
OBU10 by radio indicator pID addressing receives identification request 22, and it is forwarded to corresponding process, and here, this process is toll collection applications program 14.If identification request 22 comprises transmit leg certificate 23, OBU10 can be at optional step 24(Fig. 3) in check the authenticity of certificate 23; If this certificate is real or effective, carry out remaining step; If no, ignore identification request 22.
OBU10 responds to identification request 22 by its sign of issue (disclosing) uID, sign uID is unique in whole system, that is to say, in the change several times of radio indicator pID, be even unique constantly, referring to assert message Id_Rsp25, unit turns back to assert message Id_Rsp25 the transceiver 18 of radiobeacon 3 by transceiver 13.Assert message 25 can comprise the service identifier sID of the poll services application program 21 of radiobeacon 3, so that assert message can be provided to correct attendant application 21.
From now on, OBU10 is identified with respect to attendant application 21 with its unique identification uID, the latter with service identifier with and certificate 23 with respect to OBU10 or toll collection applications program 14sID, identified.Now can be by radio interface 26 other specific message Svc_Msg27 of service of exchange between the transceiver 18 of the transceiver 13 of OBU10 and radiobeacon 3.For example, message 27 can be the services package of the routine charge record of being charged for the use to position.OBU sign uID can, for example, the toll account in reference radio beacon 3 or backstage 2, the expense that this account debit is used for position.As a kind of replacement scheme, can pre-stored legal (reference) sign uID in radiobeacon 3 or backstage 2 of uID and (at least) will be identified refcompare, wherein, if identical, sign uID is authorized to, for example, and access location or reception service.
Once radiobeacon 3 and OBU10 relative to each other authenticate, particularly by the assessment of the transmit leg certificate 23 to radiobeacon 3, all subsequent communications the service message 27 of coming with following such as assert message 25, can with encrypted form, transmit by radio interface 26, for example,, as the communication of point-to-point of encrypting.The transmission channel of such encryption can alternatively pass through the mobile communications network (not shown), replaces by radio interface 26, and for example, direct and backstage 2 is set up.
Do not carry out charging function but in just being used for identifying the simplified embodiment of vehicle 9 or OBU10 in radiobeacon 3, definite sign uID of onboard units 10 can also be recorded simply---preferably, in each situation, together with current time stamp t---be recorded in the storer 28 or backstage 2 of radiobeacon 3 purposes of noting down.
After position is used successfully recording, authorize or charge, radiobeacon 3 can be to OBU10 acknowledge message " ok " in optional step 27', and in this message transmission (again optionally) unique beacon identifier bID.OBU10 can store the beacon identifier bID received from radiobeacon 3, and identifies at least corresponding last the beacon identifier bID received to radiobeacon 3 in disclosing of uID in step 25 in (or a plurality of) status message 16 and/or at it.So, radiobeacon 3 can be ignored or holddown message 16 and/or sign transmission 25, receive the beacon identifier bID identical with its oneself beacon identifier bID with these status messages 16 and/or sign transmission 25 radiobeacon 3 together, in order to avoid the Duplex treatment of one and identical transmission OBU10.
At definite current location P iwith relative distance A iin process, the position P of OBU10 ican by with the known reference position---or at least with the field of the third party position of depending on identical measuring error (as from the poor GPS(dGPS that turns), know) relatively improve.For example, radiobeacon 3 can have specific satellite navigation receiver (not shown), this receiver roughly with generate position P ithe time measure radiobeacon 3 reference position P ref, iand make them available, for example, they are transferred to OBU10.After knowing the known position in advance of fixing radiobeacon 3, then, can be with respect to reference position P ref, i(accepting roughly suitable measuring error) places the position P that navigates via satellite definite i, so, can compensating measurement errors, with reference to the path 29 in figure 2.Can use in an identical manner the corresponding position P determined in the similar time into adjacent OBU10 i, to correct by the relevant position P that OBU10 was generated imeasuring error.
The present invention is not limited only to shown each embodiment, but also comprises all variants and the modification of being contained by the scope of incidental claim.

Claims (15)

1. one kind for identifying the method for the vehicle (9) that uses precalculated position (5-8):
At the upper portable machine carrier unit (10) of described vehicle (9), described onboard units (10) is passed through radio broadcast state message (16) repeatedly, and each status message (16) is indicated the current relative distance (A in described onboard units (10) and described precalculated position (5-8) i) and the radio indicator (pID) that changes afterwards at each or several status message (16);
Receive at least one status message (16) in radiobeacon (3);
By the described relative distance (A based on wherein indicated i) assess described at least one status message (16), detect the position of described vehicle (9) and use;
The transmission identification request (22) from described radiobeacon (3) to described onboard units (10), described onboard units (10) is by described radio indicator (pID) addressing from described at least one status message;
Receive described identification request (22) and it is carried out to validity checking (24) in described onboard units (10), and if described request (22) is legal, by the unique identification of described onboard units (10) (uID) transmission (25), to described radiobeacon (3), described unique identification remains unchanged in the change several times of radio indicator.
2. the method for claim 1, is characterized in that, about the information (P of described precalculated position (5-8) 0) being transferred to described onboard units (10) from described radiobeacon (3), described onboard units (10) is based on described information (P 0) and the current location (P based on described onboard units i) calculate described relative distance (A i).
3. the method for claim 1, is characterized in that, about the information (P of described precalculated position (5-8) 0) being stored in described onboard units (10) above, described onboard units (10) is based on described information (P 0) and the current location (P based on described onboard units i) calculate described relative distance (A i).
4. according to the described method of any one claim in claim 1 to 3, it is characterized in that, receive at least two status messages (16) in radiobeacon (3), the described radio indicator (pID) of described at least two status messages based on wherein indicated and being associated with each other, and
By the described relative distance (A based on wherein indicated i) assessment mutually inter-related status message (16), detect the position of described vehicle (9) and use.
5. according to the described method of any one claim in claim 1 to 4, it is characterized in that, by check the encryption transmit leg certificate (23) of the described radiobeacon (3) of being transmitted by described radiobeacon (23) together with described identification request (22), carry out described validity checking (24).
6. according to the described method of any one claim in claim 1 to 5, it is characterized in that, the described sign (uID) of described onboard units (10) is transferred to described radiobeacon (3) by encryption channel (26).
7. according to the described method of any one claim in claim 1 to 6, it is characterized in that, in the described sign (uID) received in described radiobeacon (3) is recorded in storer (28) together with timestamp (t), so that record position is used, or with at least one pre-stored legal sign (uID ref) compare, so that the authorized location use, or be used to the search toll account that also debit is associated with described sign (uID), in order to position is used and is charged.
8. method as claimed in claim 7, it is characterized in that, after the position use being recorded, is authorized or charged, described radiobeacon (3) arrives described onboard units (10) by the peculiar beacon identifier of described radiobeacon (bID) transmission (27'), described onboard units is stored this identifier, and at least with together with the transmission of the follow-up broadcast of its described status message (16) or its described sign (uID), transmit, and
If the beacon identifier (bID) of the described beacon identifier (bID) and its that therewith receive oneself is identical, described radiobeacon (3) is ignored status message (16) or the sign (uID) received from onboard units (10).
9. according to the described method of any one claim in claim 1 to 8, it is characterized in that, described radio indicator (pID) is every roughly 5 to 1000, and preferably 20 to 100 status messages (16) change afterwards.
10. according to the described method of any one claim in claim 1 to 8, it is characterized in that, described radio indicator (pID) changes after the predetermined time period expires.
11. according to the described method of any one claim in claim 1 to 8, it is characterized in that, described radio indicator (pID) keeps identical when described onboard units (10) is present in the described radio coverage (4) of and same radio beacon (3).
12. the described method of any one claim according in claim 1 to 11, is characterized in that, each status message (16) is also indicated the described current location (P also used in the testing process that position is used of described onboard units (10) i) and/or current mobile vector (M i).
13. the described method of any one claim according in claim 1 to 12, is characterized in that, the described current location (P of described onboard units (10) i) navigation (11) via satellite come to determine, and improve the reference position (29) of quoting the described radiobeacon (3) that navigation is determined via satellite.
14. one kind for identifying the radiobeacon (3) of the vehicle (9) that uses precalculated position (5-8), described vehicle carries by the radio onboard units (10) of broadcast state message (16) repeatedly, and each status message (16) is indicated the current relative distance (A in described onboard units (10) and described precalculated position (5-8) i) and, in the radio indicator (pID) that each or several status message (16) change afterwards, it is characterized in that being configured to, under the help of processor (17) and connected transceiver (18),
Receive at least one status message (16);
By the described relative distance (A based on wherein indicated i) assessment (20) described at least one status message (16), come detection position to use;
To described onboard units (10) transmission identification request (22), described onboard units (10) is by described radio indicator (pID) addressing from described at least one status message (16); Then
Receive the unique identification (uID) remained unchanged of described onboard units (10) in radio indicator repeatedly changes.
A 15. onboard units, comprise processor (12), satellite navigation receiver (11) for location positioning, and for the transceiver (13) of wireless communication, wherein said onboard units (10) is configured to, under the help of described transceiver (13), by wireless status message (16), broadcast repeatedly, each wireless status message (16) comprise described onboard units (10) in radio indicator (pID) that repeatedly state variation (16) changes afterwards, it is characterized in that, further be configured in each status message (16) indication as by as described in satellite navigation receiver (11) determine with current relative distance (A as described in precalculated position (5-8) i),
Receive and mail to the described current wireless identifier (pID) of described unit and comprise the identification request (22) of encrypting transmit leg certificate (23) from radiobeacon (3);
Verify described transmit leg certificate (23); And if effectively,
The unique identification of described onboard units (10) (uID) transmission (25), to described radiobeacon (3), is remained unchanged in the described change several times that is identified at radio indicator.
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